diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp index 7061eda544..ecd5421be7 100644 --- a/ArduCopter/AP_Arming.cpp +++ b/ArduCopter/AP_Arming.cpp @@ -212,7 +212,7 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure) } // acro balance parameter check -#if MODE_ACRO_ENABLED == ENABLED +#if MODE_ACRO_ENABLED == ENABLED || MODE_SPORT_ENABLED == ENABLED if ((copter.g.acro_balance_roll > copter.attitude_control->get_angle_roll_p().kP()) || (copter.g.acro_balance_pitch > copter.attitude_control->get_angle_pitch_p().kP())) { if (display_failure) { gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: ACRO_BAL_ROLL/PITCH"); diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp index 5ef2055d7a..3c9b8c9796 100644 --- a/ArduCopter/Parameters.cpp +++ b/ArduCopter/Parameters.cpp @@ -526,9 +526,10 @@ const AP_Param::Info Copter::var_info[] = { // @User: Standard GSCALAR(acro_yaw_p, "ACRO_YAW_P", ACRO_YAW_P), +#if MODE_ACRO_ENABLED == ENABLED || MODE_SPORT_ENABLED == ENABLED // @Param: ACRO_BAL_ROLL // @DisplayName: Acro Balance Roll - // @Description: rate at which roll angle returns to level in acro mode. A higher value causes the vehicle to return to level faster. + // @Description: rate at which roll angle returns to level in acro and sport mode. A higher value causes the vehicle to return to level faster. // @Range: 0 3 // @Increment: 0.1 // @User: Advanced @@ -536,12 +537,14 @@ const AP_Param::Info Copter::var_info[] = { // @Param: ACRO_BAL_PITCH // @DisplayName: Acro Balance Pitch - // @Description: rate at which pitch angle returns to level in acro mode. A higher value causes the vehicle to return to level faster. + // @Description: rate at which pitch angle returns to level in acro and sport mode. A higher value causes the vehicle to return to level faster. // @Range: 0 3 // @Increment: 0.1 // @User: Advanced GSCALAR(acro_balance_pitch, "ACRO_BAL_PITCH", ACRO_BALANCE_PITCH), +#endif +#if MODE_ACRO_ENABLED == ENABLED // @Param: ACRO_TRAINER // @DisplayName: Acro Trainer // @Description: Type of trainer used in acro mode @@ -556,6 +559,7 @@ const AP_Param::Info Copter::var_info[] = { // @Range: -0.5 1.0 // @User: Advanced GSCALAR(acro_rp_expo, "ACRO_RP_EXPO", ACRO_RP_EXPO_DEFAULT), +#endif // variables not in the g class which contain EEPROM saved variables